JPH11304486A - Surveying device using wide area positioning system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a surveying device which uses a wide area positioning system, capable of accurately determining the three-dimensional coordinates of the bottom of the sea even if a depth sounder machine is tilted. SOLUTION: This device includes a GPS receiver 3 which measures an antenna reference position by receiving electric waves from a plurality of satellites by use of an antenna 1 installed at the upper end of support 1A, a transceiver 12 installed at the underwater lower end of the support 1A of the antenna to measure the depth of water, an inclinometer 4 for measuring the inclination of the support 1A of the antenna, and a data processing device 6 which corrects, using the amount of inclination of the antenna measured by the inclinometer 4, the depth of the water measured by a sounder machine main body 13, only when the antenna inclination angle measured by the inclinometer 4 is greater than half the orientation angle of a sounder machine 12, and which determines the position of the plane of the bottom of the sea at the corrected depth of the water from the amount of inclination of the antenna and the antenna reference position to determine the three-dimensional coordinates of the bottom of the sea. This constitution can provide accurate three-dimensional coordinates of the bottom of the sea even if the transceiver 12 is greatly tilted.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for surveying seabed topography using a wide-area positioning system in the field of marine civil engineering.

[0002]

2. Description of the Related Art Conventionally, seafloor topographic surveying has been performed by a global positioning system (hereinafter referred to as GPS).
Abbreviated as above) to measure the position (horizontal coordinate), measure the water depth with a sounding device, and measure the tide level using GPS to deal with tide level changes and swells.
The vertical movement of the swell is detected to obtain a height of 0 m, the water depth is corrected to obtain an accurate water depth, and the three-dimensional coordinates of the seabed are obtained.

[0003]

The measurement of the water depth is basically performed in the direction directly below. However, when the sounding device is inclined due to the influence of waves or the like and the measurement is performed in an oblique direction, the error in the water depth becomes large. Also, since there is usually no means for directly measuring the plane position of the seafloor measured, it is assumed that it coincides with the plane coordinates of the surveying ship, that is, the sounding device. Positions do not match, resulting in an error.

When the water depth is relatively shallow, these errors are relatively small, and the accuracy required for ocean civil engineering surveys can be satisfied without any particular correction. However, when the water depth becomes deep, these errors become large. Therefore, the accuracy could not be satisfied.

Accordingly, an object of the present invention is to provide a surveying device using a wide-area positioning system that can accurately determine the three-dimensional coordinates of the seabed even when the sounding device is tilted.

[0006]

In order to achieve the above-mentioned object, a surveying apparatus using the wide-area positioning system according to the first aspect of the present invention receives radio waves from a plurality of satellites via an antenna installed on a support. A positioning device that measures the position of the antenna, a sounding device that is installed below the surface of the support of the antenna and measures the water depth, an inclinometer that measures the inclination of the support of the antenna, and the inclinometer that is measured by the inclinometer The depth of the water measured by the sounding device is corrected by the amount of antenna inclination, and the horizontal position of the sea bottom at the corrected water depth is obtained from the amount of antenna inclination and the position of the antenna measured by the positioning device. And a data processing device for obtaining

According to the configuration of the first aspect of the present invention, the water depth measured by the sounding device (transmitter / receiver) is corrected by the antenna (support) inclination amount, and the antenna inclination amount and the antenna position measured by the positioning device are determined according to the antenna inclination amount. The sea level horizontal position (two-dimensional coordinates) of the corrected water depth is obtained, and accurate three-dimensional coordinates of the sea bottom are obtained, and the depth is measured by the locus of the true value.

A surveying device using the wide-area positioning system according to the second invention is a surveying device using the wide-area positioning system according to the first invention, wherein the data processing device includes an antenna tilt amount measured by an inclinometer. Is the directivity angle of the sounding device
When the depth is larger than one-half, the water depth measured by the sounding device is corrected, and the horizontal position of the sea bottom at the corrected water depth is obtained from the antenna tilt amount and the antenna position measured by the positioning device, and the sea bottom 3 The dimensional coordinates are obtained, and when the antenna tilt amount is equal to or smaller than one half of the directivity angle of the sounding device, the antenna position measured by the positioning device is corrected based on the antenna tilt amount, and the seabed at the water depth is corrected. A horizontal position is obtained, and three-dimensional coordinates of the seabed are obtained.

The sounding device can measure the depth within the range of the directional angle, and the shortest distance in the range is measured. Therefore, when the antenna inclination angle falls within the range of half the directivity angle of the sounding device, it is not necessary to correct the water depth.
However, the horizontal position of the seabed at the depth needs to be corrected.

According to the configuration of the second aspect of the invention, when the antenna tilt amount is larger than one half of the directivity angle of the sounding device, the water depth measured by the sounding device is corrected, and the corrected water depth at the sea bottom level is corrected. By determining the position based on the antenna tilt amount and the antenna position measured by the positioning device, unnecessary correction can be eliminated, and a decrease in accuracy can be avoided.
When the antenna tilt amount is equal to or smaller than one half of the directivity angle of the sounding device, the antenna position measured by the positioning device is corrected based on the antenna tilt amount to obtain the sea bottom horizontal position at the water depth, Is obtained.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a configuration diagram of a surveying device using a wide-area positioning system for performing seafloor topographic surveying in an embodiment of the present invention.

Reference numeral 1 denotes an antenna for receiving radio waves from a plurality of satellites. The antenna 1 is installed on a support body thereof, for example, a tip (upper end) of a support (antenna support rod) 1A, and the support 1A is a center of gravity of the survey ship 2. It is mounted vertically (in the vertical direction) on the side surface of the. Also, the support 1A of the antenna 1 has an inclination of, for example, 20 m.
An inclinometer 4 for measuring at intervals of s is fixed, and a transducer (sounding sensor) 12 of a sounding device is attached to the lower end (below the water surface) of the support 1A. The support 1 of the antenna 1
A can be floated away from the survey boat 2.

In the survey vessel 2, radio waves are received at intervals of, for example, 1 s from a plurality of (for example, 8) satellites connected to the antenna 1 and the antenna position divided by the three-dimensional coordinates (X, Y,
Z) GPS positioning (hereinafter referred to as GPS data)
A receiver (positioning device) 3, a GPS information transmitter 5 for transmitting GPS data measured by the GPS receiver 3, and a data processing device 6 including a microcomputer described later.
A data file 7 for storing data processed by the data processing device 6, a CRT 8, a keyboard 9 and a printer 10 connected to the data processing device 6, and a transducer (sounding sensor) 12, Sounding device (main body) 13 for measuring the depth by a sound wave reflection method or the like is provided.

The inclinometer 4 detects the inclination angle of the column 1A of the antenna 1, that is, the roll angle θ and the pitch angle φ of the survey ship 2 shown in FIG. The transducer (sounding sensor) 12 of the above sounder can measure the sound in a cone-shaped measuring range with a directional angle (detection spread angle) of 2 ° shown in FIG.
13 measures the shortest distance D in this range. In addition,
The directional angle 2 ° is not merely a directional angle that can be measured by a sounding device, but a directional angle that can be used and is selected according to a use situation.

The operation of the data processing device 6 will be described with reference to the flowchart of FIG. First, when initial conditions (survey conditions, height of the antenna 1, etc.) are input in an interactive manner using the CRT 8 and the keyboard 9 (step-A1), they are stored in the data file 7 (step-A2). When a measurement start signal is input from the keyboard 9 (the start of the movement of the survey ship 2 may be used as a condition) (step-A3), the antenna inclination amount data (roll angle θ and pitch angle φ) measured by the inclinometer 4; The GPS data measured by the GPS receiver 3 and the sounding data measured by the sounding device 13 are input (step-A4), and the antenna tilt amount data, the GPS data and the sounding data collecting time are matched (step-A4). A5) The matched antenna tilt amount data, GPS data and sounding data are stored in the data file 7 (step-A6).

Step-A4 to Step-A6 are repeatedly executed to collect antenna tilt amount data, GPS data and sounding data. When a measurement end signal is input from the keyboard 9 (the stop of the survey vessel 2 may be a condition) (step-A7), the measurement is ended, and then a data output command signal is input from the keyboard 9 (step-A8). ), And calls the initial conditions stored in the data file 7 (step-A9).

Next, the antenna tilt amount data, GPS data and sounding data stored in the data file 7 are called in order (step-A10), and the roll angle θ or the pitch angle φ of the antenna tilt amount data is It is determined whether the roll angle θ or the pitch angle φ is greater than a half angle of the directivity angle (hereinafter referred to as a transducer half value angle ψ) (step-A11). At this time, the GPS data and the sounding data are corrected based on the antenna tilt amount data (roll angle θ or pitch angle φ) to obtain three-dimensional coordinates of the sea floor (step-A12) and stored in the data file 7 (step-A13). In step A11,
When it is determined that the roll angle θ and the pitch angle φ are equal to or smaller than the half-value angle 送 of the transducer, only the called GPS data is corrected to obtain three-dimensional coordinates of the sea floor (step-A14).
The data is stored in the data file 7.

Step-A10 to Step-A14 are repeatedly executed, and accurate three-dimensional coordinates of the seabed are continuously obtained. When all the data is obtained (step-
A15), the three-dimensional coordinates of the seabed are shaped into a predetermined format (step-A16), output to the printer 10 (step-A17), and the process is terminated.

The data processing device 6 outputs data to the CRT 8 as appropriate according to the input from the keyboard 9. Θ−ψ> 0 or φ−ψ in step-A12.
When> 0, that is, when the antenna tilt amount is large, the GPS data (X, Y, Z) and sounding data D are corrected by the antenna tilt amount data (roll angle θ and pitch angle φ), and the three-dimensional A method for obtaining the coordinates (X ", Y", Z ") will be described in detail with reference to FIGS.

In FIG. 4, D 'is the corrected water depth based on the position of the transducer 12, (X', Y ', Z') is the three-dimensional GPS coordinate of the position of the transducer 12, and Lp is Antenna 1
Is the length of the support 1A from the water surface, and Ls is the length of the support 1A of the antenna 1 below the water surface. Also, as shown in FIG. 5, the coordinate system fixed to the survey ship 2 is Oxyz (the origin is fixed to the rotation center of the survey ship 2, the xy plane is a horizontal sea surface, and the z axis always points in the vertical direction. Assuming that the y-axis is a coordinate system in which the surveying vessel 2 travels in a horizontal plane), the coordinates of the position M at which the support 1A of the antenna 1 is divided into lengths Lp and Ls are (b, 0, 0). Antenna 1 and transducer for sounder
The coordinates of 12 are (b, 0, Lp) and (b,
0, -Ls). b is the position of the antenna 1 measured in the x direction from the center of the survey boat 2. Step-B1 The coordinates of the position M of the support 1A of the antenna 1 in the Oxyz system when the antenna support 1A is inclined are obtained. It is determined from the roll angle θ, the pitch angle φ, and the position b of the x-direction antenna 1. Step-B2: The three-dimensional coordinates of the antenna 1 and the transducer 12 of the sounding device are respectively determined with the coordinates of the position M of the support 1A of the antenna 1 as the origin. Roll angle θ, pitch angle φ, support column 1 of antenna 1
A length Lp from the water surface of A, and support 1 of antenna 1
It is determined from the length Ls under the water surface of A. Step-B3: The coordinates of the position M of the support 1A of the antenna 1 in the Oxyz system are added with the three-dimensional coordinates of the antenna 1 and the transducer 12 of the sounding device, respectively, using the coordinate of the position M of the support 1A of the antenna 1 as the origin. Then, the three-dimensional coordinates of the antenna 1 and the transducer 12 of the sounding device in the Oxyz system are obtained. Step-B4 The three-dimensional coordinates of the antenna 1 and the transducer 12 of the sounding device in the obtained Oxyz system are rotated by an angle formed by the y-axis (bow direction) of the Oxyz system and the Y-axis of the GPS coordinate system. Step-B5 The three-dimensional coordinates of the antenna 1 obtained in Step-B4 are G
Since the data coincides with the PS data (X, Y, Z), the three-dimensional coordinates of the transducer 12 of the sounder determined in step B4 are represented by G
The data is converted into PS data (X ′, Y ′, Z ′). Step-B6 Obtain the coordinates of the sea bottom measurement position in the Oxyz system with the position of the transducer 12 of the sounding device as the origin. For example, the depth for the coordinate x "and the x component is obtained as follows.

X ″ = − D ′ tan (θ−ψ) D ′ = Dcos (θ−ψ) The obtained coordinates of the Oxyz system are calculated in the same manner as in step B4, using the y axis (bow direction) of the Oxyz system and the GPS. Y of coordinate system
Rotate at the angle between the axes. Step-B7 Next, the position coordinates of the transducer 12 of the sounding device based on the GPS data obtained in step-B5 and the sea-bottom measurement position coordinates obtained in step-B6 are added, and the three-dimensional coordinates (X ",
Y ", Z").

In step A14 of FIG.
The coordinates are obtained as follows. The transducer (sounding sensor) 12 of the above sounder can measure the sound in a range of a directional angle of 2 °.
The shallowest part of this range is measured. Therefore,
When the roll angle θ and the pitch angle φ are within the range of the transducer half-value angle ψ, it is not necessary to correct the water depth.

When θ-ψ ≦ 0 and φ-ψ ≦ 0, that is, when the antenna tilt amount is small, D ′ = D,
D is added to the coordinate Z 'of the transducer 12 of the sounder, and the coordinate Z "is obtained.
(Z ″ = Z ′ + D), and the above-described step −B5
The XY coordinates of the transducer 12 of the sounding device based on the GPS data of the above are set as the XY coordinates of the seafloor measurement position (X "= X ', Y" =
Y ').

As described above, the GPS coordinates (X ″,
Y ", Z") is obtained by correcting the GPS data and the sounding data by using the antenna inclination amount data (roll angle θ and pitch angle φ) in three-dimensional coordinates, so that the transducer 12 of the sounding machine is greatly inclined. However, highly accurate coordinates of the sea floor can be obtained, and the accuracy of bathymetric survey can be improved.

In this embodiment, the antenna 1
The inclinometer 4 is directly attached to the support 1A of the
Needless to say, it is only necessary to mount so that the inclination of the support 1A can be measured.

In the data processor 6, the matched antenna tilt amount data, GPS data and sounding data are temporarily stored in the data file 7, and after the measurement is completed, correction is performed. And GPS
Immediately after the data and sounding data are obtained, a correction operation can be performed, and the three-dimensional coordinates of the seabed can be obtained and stored in the data file 7.

[0027]

As described above, according to the present invention, the water depth measured by a sounding device (transmitter / receiver) is corrected based on the antenna tilt amount, and the correction is performed based on the antenna tilt amount and the antenna position measured by the positioning device. By obtaining the seabed plane position (two-dimensional coordinates) of the measured water depth, that is, by performing three-dimensional correction, it is possible to obtain the three-dimensional coordinates of the seabed with high accuracy even when the sounding device is greatly inclined. Accuracy can be improved.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a surveying device using a wide-area positioning system for performing seafloor topographic surveying in an embodiment of the present invention.

FIG. 2 is a flowchart illustrating an operation of a data processing device of the measurement device.

FIG. 3 is a flowchart of a correction procedure of a data processing device of the measurement device.

FIG. 4 is an explanatory diagram for describing a correction method of the measurement device.

FIG. 5 is an explanatory diagram for explaining a correction method of the measurement device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Antenna 1A Antenna support 2 Surveying ship 3 GPS receiver 4 Inclinometer 5 GPS information transmitter 6 Data processing device 7 Data file 8 CRT 9 Keyboard 10 Printer 12 Transceiver 13 Sounding machine

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Masao Kinoshita 1-7-89 Minami Kohoku, Suminoe-ku, Osaka-shi, Osaka Inside Hitachi Zosen Corporation (72) Inventor Toshio Takiya 1 Minami-Kohoku, Suminoe-ku, Osaka-shi, Osaka Hitachi Zosen Co., Ltd. (72) Inventor Yukihiro Terada 1-7-89 Minami Kohoku, Suminoe-ku, Osaka-shi, Osaka

Claims (2)

[Claims] 1. A positioning device that receives radio waves from a plurality of satellites by an antenna installed on a support and measures the position of the antenna, and a sounding device that is installed below the water surface of the support of the antenna and measures the water depth. And an inclinometer for measuring the inclination of the support of the antenna, and an antenna inclination amount measured by the inclinometer,
A data processing device that corrects the water depth measured by the sounding device, obtains the horizontal position of the sea bottom at the corrected water depth by the antenna tilt amount and the antenna position measured by the positioning device, and obtains three-dimensional coordinates of the seabed. A surveying device using a wide-area positioning system, comprising: 2. The data processor corrects the water depth measured by the sounding device when the amount of antenna inclination measured by the inclinometer is larger than one half of the directivity angle of the sounding device. The horizontal position of the sea floor at the depth of the water is determined by the antenna tilt amount and the antenna position measured by the positioning device, and the three-dimensional coordinate of the sea bottom is determined. The antenna tilt amount is set to one half of the directivity angle of the sounding device. 2. The apparatus according to claim 1, wherein when the distance is the same or smaller, the antenna position measured by the positioning device is corrected based on the amount of tilt of the antenna to obtain the horizontal position of the sea floor at the water depth, and the three-dimensional coordinates of the sea bottom are obtained. Surveying equipment using a wide-area positioning system.